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| 1 | /* |
1 | /* |
| 2 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
2 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
| 4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
10 | Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| 11 | */ |
11 | */ |
| 12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 13 | Peter Muehlenbrock |
13 | Peter Muehlenbrock |
| 14 | Winkelfunktionen sin, cos und arctan in |
14 | Winkelfunktionen sin, cos und arctan in |
| 15 | brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
15 | brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
| 16 | Stand 11.9.2007 |
16 | Stand 20.9.2007 |
| 17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 18 | */ |
18 | */ |
| 19 | #include "main.h" |
19 | #include "main.h" |
| 20 | 20 | ||
| 21 | 21 | ||
| 22 | // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
22 | // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
| 23 | int arctan_i(long signed int x, long signed int y) |
23 | int arctan_i(long signed int x, long signed int y) |
| 24 | { |
24 | { |
| 25 | short int change_xy = 0; |
25 | short int change_xy = 0; |
| 26 | signed int i; |
26 | signed int i; |
| 27 | long signed int wert; |
27 | long signed int wert; |
| 28 | int return_value; |
28 | int return_value; |
| 29 | 29 | ||
| 30 | if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
30 | if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
| 31 | { |
31 | { |
| 32 | change_xy = 1; |
32 | change_xy = 1; |
| 33 | i = x; |
33 | i = x; |
| 34 | x = y; |
34 | x = y; |
| 35 | y = i; |
35 | y = i; |
| 36 | } |
36 | } |
| 37 | 37 | ||
| 38 | // Quadranten ermitteln |
38 | // Quadranten ermitteln |
| 39 | 39 | ||
| 40 | // Wert durch lineare Interpolation ermitteln |
40 | // Wert durch lineare Interpolation ermitteln |
| 41 | wert= abs((x*1000)/y); |
41 | wert= abs((x*1000)/y); |
| 42 | 42 | ||
| 43 | if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
43 | if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
| 44 | { |
44 | { |
| 45 | return_value = (int)((wert*100)/(268-0)*(15-0)/100) +0; |
45 | return_value = (int)((wert*100)/(268-0)*(15-0)/100) +0; |
| 46 | } |
46 | } |
| 47 | else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
47 | else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
| 48 | { |
48 | { |
| 49 | return_value = (int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
49 | return_value = (int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
| 50 | } |
50 | } |
| 51 | else //0,568...1 entsprechend 30..45 Grad |
51 | else //0,568...1 entsprechend 30..45 Grad |
| 52 | { |
52 | { |
| 53 | return_value = (int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
53 | return_value = (int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
| 54 | } |
54 | } |
| 55 | 55 | ||
| 56 | if (change_xy > 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
56 | if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
| 57 | if ((x > 0) && (y <0)) return_value = - return_value; |
57 | if ((x >= 0) && (y <0)) return_value = - return_value; |
| 58 | else if ((x < 0) && (y > 0)) return_value = - return_value; |
58 | else if ((x < 0) && (y >= 0)) return_value = - return_value; |
| 59 | 59 | ||
| 60 | return return_value; |
60 | return return_value; |
| 61 | } |
61 | } |
| 62 | 62 | ||
| 63 | 63 | ||
| 64 | // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
64 | // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
| 65 | signed int cos_i(signed int winkel) |
65 | signed int cos_i(signed int winkel) |
| 66 | { |
66 | { |
| 67 | winkel = sin_i(90-winkel); |
67 | winkel = sin_i(90-winkel); |
| 68 | return winkel; |
68 | return winkel; |
| 69 | } |
69 | } |
| 70 | 70 | ||
| 71 | 71 | ||
| 72 | // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
72 | // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
| 73 | signed int sin_i(signed int winkel) |
73 | signed int sin_i(signed int winkel) |
| 74 | { |
74 | { |
| 75 | short int m; |
75 | short int m; |
| 76 | winkel = winkel % 360; |
76 | winkel = winkel % 360; |
| 77 | // Quadranten auswerten |
77 | // Quadranten auswerten |
| 78 | if ((winkel >= 90 ) && (winkel <180)) |
78 | if ((winkel >= 90 ) && (winkel <180)) |
| 79 | { |
79 | { |
| 80 | winkel = 180 - winkel; |
80 | winkel = 180 - winkel; |
| 81 | m = 1; |
81 | m = 1; |
| 82 | } |
82 | } |
| 83 | else if ((winkel >= 180 ) && (winkel <270)) |
83 | else if ((winkel >= 180 ) && (winkel <270)) |
| 84 | { |
84 | { |
| 85 | winkel = winkel - 180; |
85 | winkel = winkel - 180; |
| 86 | m = -1; |
86 | m = -1; |
| 87 | } |
87 | } |
| 88 | else if ((winkel >= 270 ) && (winkel < 360)) |
88 | else if ((winkel >= 270 ) && (winkel < 360)) |
| 89 | { |
89 | { |
| 90 | winkel = 360 -winkel ; |
90 | winkel = 360 -winkel ; |
| 91 | m = -1; |
91 | m = -1; |
| 92 | } |
92 | } |
| 93 | else if ((winkel < 0) && (winkel > -90)) |
93 | else if ((winkel < 0) && (winkel > -90)) |
| 94 | { |
94 | { |
| 95 | winkel = (abs(winkel)); |
95 | winkel = (abs(winkel)); |
| 96 | m = -1; |
96 | m = -1; |
| 97 | } |
97 | } |
| 98 | else if ((winkel < -90) && (winkel > -180)) |
98 | else if ((winkel < -90) && (winkel > -180)) |
| 99 | { |
99 | { |
| 100 | winkel = 180-(abs(winkel)); |
100 | winkel = 180-(abs(winkel)); |
| 101 | m = -1; |
101 | m = -1; |
| 102 | } |
102 | } |
| 103 | else if ((winkel < -180) && (winkel > -270)) |
103 | else if ((winkel < -180) && (winkel > -270)) |
| 104 | { |
104 | { |
| 105 | winkel = (abs(winkel))-180; |
105 | winkel = (abs(winkel))-180; |
| 106 | m = +1; |
106 | m = +1; |
| 107 | } |
107 | } |
| 108 | else if ((winkel < -270) && (winkel > -360)) |
108 | else if ((winkel < -270) && (winkel > -360)) |
| 109 | { |
109 | { |
| 110 | winkel = 360-abs(winkel); |
110 | winkel = 360-abs(winkel); |
| 111 | m = +1; |
111 | m = +1; |
| 112 | } |
112 | } |
| 113 | else |
113 | else |
| 114 | { |
114 | { |
| 115 | m = +1; |
115 | m = +1; |
| 116 | } |
116 | } |
| 117 | 117 | ||
| 118 | 118 | ||
| 119 | //Aus Tabelle Werte holen |
119 | //Aus Tabelle Werte holen |
| 120 | switch (winkel) |
120 | switch (winkel) |
| 121 | { |
121 | { |
| 122 | case 1: |
122 | case 1: |
| 123 | winkel = 17; |
123 | winkel = 17; |
| 124 | break; |
124 | break; |
| 125 | case 2: |
125 | case 2: |
| 126 | winkel = 35; |
126 | winkel = 35; |
| 127 | break; |
127 | break; |
| 128 | case 3: |
128 | case 3: |
| 129 | winkel = 52; |
129 | winkel = 52; |
| 130 | break; |
130 | break; |
| 131 | case 4: |
131 | case 4: |
| 132 | winkel = 70; |
132 | winkel = 70; |
| 133 | break; |
133 | break; |
| 134 | case 5: |
134 | case 5: |
| 135 | winkel = 87; |
135 | winkel = 87; |
| 136 | break; |
136 | break; |
| 137 | case 6: |
137 | case 6: |
| 138 | winkel = 105; |
138 | winkel = 105; |
| 139 | break; |
139 | break; |
| 140 | case 7: |
140 | case 7: |
| 141 | winkel = 122; |
141 | winkel = 122; |
| 142 | break; |
142 | break; |
| 143 | case 8: |
143 | case 8: |
| 144 | winkel = 139; |
144 | winkel = 139; |
| 145 | break; |
145 | break; |
| 146 | case 9: |
146 | case 9: |
| 147 | winkel = 156; |
147 | winkel = 156; |
| 148 | break; |
148 | break; |
| 149 | case 10: |
149 | case 10: |
| 150 | winkel = 174; |
150 | winkel = 174; |
| 151 | break; |
151 | break; |
| 152 | case 11: |
152 | case 11: |
| 153 | winkel = 191; |
153 | winkel = 191; |
| 154 | break; |
154 | break; |
| 155 | case 12: |
155 | case 12: |
| 156 | winkel = 208; |
156 | winkel = 208; |
| 157 | break; |
157 | break; |
| 158 | case 13: |
158 | case 13: |
| 159 | winkel = 225; |
159 | winkel = 225; |
| 160 | break; |
160 | break; |
| 161 | case 14: |
161 | case 14: |
| 162 | winkel = 242; |
162 | winkel = 242; |
| 163 | break; |
163 | break; |
| 164 | case 15: |
164 | case 15: |
| 165 | winkel = 259; |
165 | winkel = 259; |
| 166 | break; |
166 | break; |
| 167 | case 16: |
167 | case 16: |
| 168 | winkel = 276; |
168 | winkel = 276; |
| 169 | break; |
169 | break; |
| 170 | case 17: |
170 | case 17: |
| 171 | winkel = 292; |
171 | winkel = 292; |
| 172 | break; |
172 | break; |
| 173 | case 18: |
173 | case 18: |
| 174 | winkel = 309; |
174 | winkel = 309; |
| 175 | break; |
175 | break; |
| 176 | case 19: |
176 | case 19: |
| 177 | winkel = 326; |
177 | winkel = 326; |
| 178 | break; |
178 | break; |
| 179 | case 20: |
179 | case 20: |
| 180 | winkel = 342; |
180 | winkel = 342; |
| 181 | break; |
181 | break; |
| 182 | case 21: |
182 | case 21: |
| 183 | winkel = 359; |
183 | winkel = 359; |
| 184 | break; |
184 | break; |
| 185 | case 22: |
185 | case 22: |
| 186 | winkel = 375; |
186 | winkel = 375; |
| 187 | break; |
187 | break; |
| 188 | case 23: |
188 | case 23: |
| 189 | winkel = 391; |
189 | winkel = 391; |
| 190 | break; |
190 | break; |
| 191 | case 24: |
191 | case 24: |
| 192 | winkel = 407; |
192 | winkel = 407; |
| 193 | break; |
193 | break; |
| 194 | case 25: |
194 | case 25: |
| 195 | winkel = 423; |
195 | winkel = 423; |
| 196 | break; |
196 | break; |
| 197 | case 26: |
197 | case 26: |
| 198 | winkel = 438; |
198 | winkel = 438; |
| 199 | break; |
199 | break; |
| 200 | case 27: |
200 | case 27: |
| 201 | winkel = 454; |
201 | winkel = 454; |
| 202 | break; |
202 | break; |
| 203 | case 28: |
203 | case 28: |
| 204 | winkel = 469; |
204 | winkel = 469; |
| 205 | break; |
205 | break; |
| 206 | case 29: |
206 | case 29: |
| 207 | winkel = 485; |
207 | winkel = 485; |
| 208 | break; |
208 | break; |
| 209 | case 30: |
209 | case 30: |
| 210 | winkel = 500; |
210 | winkel = 500; |
| 211 | break; |
211 | break; |
| 212 | case 31: |
212 | case 31: |
| 213 | winkel = 515; |
213 | winkel = 515; |
| 214 | break; |
214 | break; |
| 215 | case 32: |
215 | case 32: |
| 216 | winkel = 530; |
216 | winkel = 530; |
| 217 | break; |
217 | break; |
| 218 | case 33: |
218 | case 33: |
| 219 | winkel = 545; |
219 | winkel = 545; |
| 220 | break; |
220 | break; |
| 221 | case 34: |
221 | case 34: |
| 222 | winkel = 559; |
222 | winkel = 559; |
| 223 | break; |
223 | break; |
| 224 | case 35: |
224 | case 35: |
| 225 | winkel = 574; |
225 | winkel = 574; |
| 226 | break; |
226 | break; |
| 227 | case 36: |
227 | case 36: |
| 228 | winkel = 588; |
228 | winkel = 588; |
| 229 | break; |
229 | break; |
| 230 | case 37: |
230 | case 37: |
| 231 | winkel = 602; |
231 | winkel = 602; |
| 232 | break; |
232 | break; |
| 233 | case 38: |
233 | case 38: |
| 234 | winkel = 616; |
234 | winkel = 616; |
| 235 | break; |
235 | break; |
| 236 | case 39: |
236 | case 39: |
| 237 | winkel = 630; |
237 | winkel = 630; |
| 238 | break; |
238 | break; |
| 239 | case 40: |
239 | case 40: |
| 240 | winkel = 643; |
240 | winkel = 643; |
| 241 | break; |
241 | break; |
| 242 | case 41: |
242 | case 41: |
| 243 | winkel = 656; |
243 | winkel = 656; |
| 244 | break; |
244 | break; |
| 245 | case 42: |
245 | case 42: |
| 246 | winkel = 682; |
246 | winkel = 682; |
| 247 | break; |
247 | break; |
| 248 | case 43: |
248 | case 43: |
| 249 | winkel = 682; |
249 | winkel = 682; |
| 250 | break; |
250 | break; |
| 251 | case 44: |
251 | case 44: |
| 252 | winkel = 695; |
252 | winkel = 695; |
| 253 | break; |
253 | break; |
| 254 | case 45: |
254 | case 45: |
| 255 | winkel = 707; |
255 | winkel = 707; |
| 256 | break; |
256 | break; |
| 257 | case 46: |
257 | case 46: |
| 258 | winkel = 719; |
258 | winkel = 719; |
| 259 | break; |
259 | break; |
| 260 | case 47: |
260 | case 47: |
| 261 | winkel = 731; |
261 | winkel = 731; |
| 262 | case 48: |
262 | case 48: |
| 263 | winkel = 743; |
263 | winkel = 743; |
| 264 | break; |
264 | break; |
| 265 | case 49: |
265 | case 49: |
| 266 | winkel = 755; |
266 | winkel = 755; |
| 267 | break; |
267 | break; |
| 268 | case 50: |
268 | case 50: |
| 269 | winkel = 766; |
269 | winkel = 766; |
| 270 | break; |
270 | break; |
| 271 | case 51: |
271 | case 51: |
| 272 | winkel = 777; |
272 | winkel = 777; |
| 273 | break; |
273 | break; |
| 274 | case 52: |
274 | case 52: |
| 275 | winkel = 788; |
275 | winkel = 788; |
| 276 | break; |
276 | break; |
| 277 | case 53: |
277 | case 53: |
| 278 | winkel = 799; |
278 | winkel = 799; |
| 279 | break; |
279 | break; |
| 280 | case 54: |
280 | case 54: |
| 281 | winkel = 809; |
281 | winkel = 809; |
| 282 | break; |
282 | break; |
| 283 | case 55: |
283 | case 55: |
| 284 | winkel = 819; |
284 | winkel = 819; |
| 285 | break; |
285 | break; |
| 286 | case 56: |
286 | case 56: |
| 287 | winkel = 829; |
287 | winkel = 829; |
| 288 | break; |
288 | break; |
| 289 | case 57: |
289 | case 57: |
| 290 | winkel = 839; |
290 | winkel = 839; |
| 291 | break; |
291 | break; |
| 292 | case 58: |
292 | case 58: |
| 293 | winkel = 848; |
293 | winkel = 848; |
| 294 | break; |
294 | break; |
| 295 | case 59: |
295 | case 59: |
| 296 | winkel = 857; |
296 | winkel = 857; |
| 297 | break; |
297 | break; |
| 298 | case 60: |
298 | case 60: |
| 299 | winkel = 866; |
299 | winkel = 866; |
| 300 | break; |
300 | break; |
| 301 | case 61: |
301 | case 61: |
| 302 | winkel = 875; |
302 | winkel = 875; |
| 303 | break; |
303 | break; |
| 304 | case 62: |
304 | case 62: |
| 305 | winkel = 883; |
305 | winkel = 883; |
| 306 | break; |
306 | break; |
| 307 | case 63: |
307 | case 63: |
| 308 | winkel = 891; |
308 | winkel = 891; |
| 309 | break; |
309 | break; |
| 310 | case 64: |
310 | case 64: |
| 311 | winkel = 899; |
311 | winkel = 899; |
| 312 | break; |
312 | break; |
| 313 | case 65: |
313 | case 65: |
| 314 | winkel = 906; |
314 | winkel = 906; |
| 315 | break; |
315 | break; |
| 316 | case 66: |
316 | case 66: |
| 317 | winkel = 914; |
317 | winkel = 914; |
| 318 | break; |
318 | break; |
| 319 | case 67: |
319 | case 67: |
| 320 | winkel = 921; |
320 | winkel = 921; |
| 321 | break; |
321 | break; |
| 322 | case 68: |
322 | case 68: |
| 323 | winkel = 927; |
323 | winkel = 927; |
| 324 | break; |
324 | break; |
| 325 | case 69: |
325 | case 69: |
| 326 | winkel = 934; |
326 | winkel = 934; |
| 327 | break; |
327 | break; |
| 328 | case 70: |
328 | case 70: |
| 329 | winkel = 940; |
329 | winkel = 940; |
| 330 | break; |
330 | break; |
| 331 | case 71: |
331 | case 71: |
| 332 | winkel = 946; |
332 | winkel = 946; |
| 333 | break; |
333 | break; |
| 334 | case 72: |
334 | case 72: |
| 335 | winkel = 951; |
335 | winkel = 951; |
| 336 | break; |
336 | break; |
| 337 | case 73: |
337 | case 73: |
| 338 | winkel = 956; |
338 | winkel = 956; |
| 339 | break; |
339 | break; |
| 340 | case 74: |
340 | case 74: |
| 341 | winkel = 961; |
341 | winkel = 961; |
| 342 | break; |
342 | break; |
| 343 | case 75: |
343 | case 75: |
| 344 | winkel = 966; |
344 | winkel = 966; |
| 345 | break; |
345 | break; |
| 346 | case 76: |
346 | case 76: |
| 347 | winkel = 970; |
347 | winkel = 970; |
| 348 | break; |
348 | break; |
| 349 | case 77: |
349 | case 77: |
| 350 | winkel = 974; |
350 | winkel = 974; |
| 351 | break; |
351 | break; |
| 352 | case 78: |
352 | case 78: |
| 353 | winkel = 978; |
353 | winkel = 978; |
| 354 | break; |
354 | break; |
| 355 | case 79: |
355 | case 79: |
| 356 | winkel = 982; |
356 | winkel = 982; |
| 357 | break; |
357 | break; |
| 358 | case 80: |
358 | case 80: |
| 359 | winkel = 985; |
359 | winkel = 985; |
| 360 | break; |
360 | break; |
| 361 | case 81: |
361 | case 81: |
| 362 | winkel = 988; |
362 | winkel = 988; |
| 363 | break; |
363 | break; |
| 364 | case 82: |
364 | case 82: |
| 365 | winkel = 990; |
365 | winkel = 990; |
| 366 | break; |
366 | break; |
| 367 | case 83: |
367 | case 83: |
| 368 | winkel = 993; |
368 | winkel = 993; |
| 369 | break; |
369 | break; |
| 370 | case 84: |
370 | case 84: |
| 371 | winkel = 995; |
371 | winkel = 995; |
| 372 | break; |
372 | break; |
| 373 | case 85: |
373 | case 85: |
| 374 | winkel = 996; |
374 | winkel = 996; |
| 375 | break; |
375 | break; |
| 376 | case 86: |
376 | case 86: |
| 377 | winkel = 998; |
377 | winkel = 998; |
| 378 | break; |
378 | break; |
| 379 | case 87: |
379 | case 87: |
| 380 | winkel = 999; |
380 | winkel = 999; |
| 381 | break; |
381 | break; |
| 382 | case 88: |
382 | case 88: |
| 383 | winkel = 999; |
383 | winkel = 999; |
| 384 | break; |
384 | break; |
| 385 | case 89: |
385 | case 89: |
| 386 | winkel = 1000; |
386 | winkel = 1000; |
| 387 | break; |
387 | break; |
| 388 | case 90: |
388 | case 90: |
| 389 | winkel = 1000; |
389 | winkel = 1000; |
| 390 | break; |
390 | break; |
| 391 | default: |
391 | default: |
| 392 | winkel = 0; |
392 | winkel = 0; |
| 393 | break; |
393 | break; |
| 394 | 394 | ||
| 395 | } |
395 | } |
| 396 | return (winkel*m); |
396 | return (winkel*m); |
| 397 | 397 | ||
| 398 | } |
398 | } |
| 399 | 399 | ||
| 400 | 400 | ||
| 401 | 401 | ||